CN205928707U - Automatic grasping system - Google Patents
Automatic grasping system Download PDFInfo
- Publication number
- CN205928707U CN205928707U CN201620954080.9U CN201620954080U CN205928707U CN 205928707 U CN205928707 U CN 205928707U CN 201620954080 U CN201620954080 U CN 201620954080U CN 205928707 U CN205928707 U CN 205928707U
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- China
- Prior art keywords
- accurately positioned
- grasping system
- automatic grasping
- principal arm
- crawl
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- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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Abstract
The utility model relates to an automatic grasping system belongs to industrial automation technical field. The utility model provides an automatic grasping system can snatch article at great location within range automatically, simple structure, and convenient to use, degree of automation is high. The utility model discloses an one is snatched the main arm and snatchs the mechanism respectively with more than snatching three or three that the main arm links to each other, and every snatchs the mechanism and includes driving piece, accurate positioning piece and flexible adjusting spare, and the driving piece setting is on snatching the main arm, and the accurate positioning piece links to each other with flexible adjusting spare, and the driving piece is through the action of accurate positioning piece control flexible adjusting spare.
Description
Technical field
The utility model is related to a kind of automatic grasping system, belongs to technical field of automation in industry.
Background technology
Automatically transloading equipment is widely used in industrial circle.For the article transhipment on production line, it is fixed
Position is accurate, high degree of automation, already belongs to the technology of ripe application.For the product on nonproductive line, its positioning cannot arrive
Reach the precision of production line, especially for the transhipment of large and heavy objects, manually operation adjustment positioning is captured substantially, transport efficacy
Lowly.
Content of the invention
For above-mentioned the deficiencies in the prior art, the utility model provides a kind of automatic grasping system, can determine in larger
Automatically article are captured, structure is simple, easy to use, high degree of automation in the range of position.
For achieving the above object, the utility model adopts the following technical scheme that, a kind of automatic grasping system, grabs including one
Take principal arm and three or more than three grasping mechanisms being connected respectively with crawl principal arm, each grasping mechanism includes actuator, essence
Really keeper and soft readjustment part, actuator is arranged on crawl principal arm, is accurately positioned part and is connected with soft readjustment part, actuator
Control soft readjustment part action by being accurately positioned part.
Preferably, actuator includes direct acting element and rotate element.
Preferably, smart determining member upper end is connected with the output shaft of rotate element.
Preferably, be accurately positioned part upper end be arranged on crawl principal arm upper hopper chute in, direct acting element manipulation end be accurately positioned
Part is connected, and direct acting element drives and is accurately positioned part along chute movement.
Preferably, being accurately positioned part is inverted Y type or T-shaped, and lower end is connected with soft readjustment part two ends respectively, constitutes one
Individual lock tube.
Preferably, soft readjustment part is steel wire rope.
The beneficial effect of utility model
, using crawl principal arm and three or more than three grasping mechanisms, building block is few, and structure is simple for the utility model；Grab
Take principal arm can carry out position control, grasping mechanism controls, by actuator, the position being accurately positioned part lower end, and using flexible
Part moment holding feature vertically downward under gravity, reaches registration it is ensured that flexible piece precisely captures weight, saves
Manual operation link, easy to use, high degree of automation, automatically can capture article in larger orientation range, be suitable for
Automatic transhipment in large and heavy objects.
Brief description
Fig. 1 is the seized condition structural representation of the first embodiment of the utility model；
Fig. 2 is that the first embodiment of the utility model is accurately positioned part deployed condition schematic diagram；
Fig. 3 is the seized condition structural representation of the utility model second embodiment.
Specific embodiment
Embodiment 1
As shown in Figure 1-2, a kind of automatic grasping system, three crawls be connected including crawl principal arm 1 and with crawl principal arm 1
Mechanism 3, each grasping mechanism 3 includes actuator 2, is accurately positioned part 4 and soft readjustment part 5, is arranged on the drive on crawl principal arm 1
Moving part 2 uses such as the rotate elements such as motor or motor 21, and soft readjustment part 5 is steel wire rope, and it is inverted for being accurately positioned part 4
Y type, upper end is connected with the output shaft of rotate element 21, and lower end is fixedly linked with steel wire rope two ends respectively, forms a lock tube 6.Grab
Principal arm 1 is taken to move to weight 8 top precalculated position, three rotate elements 21 drive three to be accurately positioned part 4 respectively and rotate and arrive
Reach precalculated position it is ensured that the lock tube 6 crawl point 7 that entangles on weight 8, then lock three rotate elements 21, on crawl principal arm 1
Rise, and pass through three lock tube 6 effectively connection weights 8, realize the purpose of crawl, weight 8 can be moved to needs by mobile crawl principal arm 1
Position, puts down weight 8, completes to transport.
Embodiment 2
As shown in Figure 3：A kind of automatic grasping system, four gripper be connected including crawl principal arm 1 and with crawl principal arm 1
Structure 3, each grasping mechanism 3 includes actuator 2, is accurately positioned part 4 and soft readjustment part 5, and this actuator 2 is hydraulic cylinder or cylinder
Etc. direct acting element 22, capture and be provided with chute 10 on principal arm 1, being accurately positioned part 4 upper end is arranged in chute 10, direct acting element 22
It is connected with being accurately positioned 4, it is for linear motion along chute 10 that driving is accurately positioned part 4.It is accurately positioned part 4 lower end and flexible piece 5
It is connected, constitute a lock tube 6.During crawl weight, crawl principal arm 1 moves to weight 8 top precalculated position, and direct acting element 22 drives
It is accurately positioned part 4 mobile along chute 10, when four lock tubes 6 can all entangle the crawl point 7 of weight；Locking direct acting element 22,
Guarantee four is accurately positioned part 4 position and fixes, and crawl principal arm 1 is lifted up, and lock tube 6 is contacted with crawl point 7 and is locked, now
Establish the effectively connection of crawl principal arm 1 and weight 8, mobile crawl principal arm 1 can drive weight 8 mobile, and completes to transport.
Claims (6)
1. a kind of automatic grasping system it is characterised in that include a crawl principal arm and respectively with capture be connected three of principal arm or
More than three grasping mechanisms, each grasping mechanism includes actuator, is accurately positioned part and soft readjustment part, and actuator is arranged on grabs
Take on principal arm, be accurately positioned part and be connected with soft readjustment part, actuator controls soft readjustment part action by being accurately positioned part.
2. as claimed in claim 1 a kind of automatic grasping system it is characterised in that actuator include direct acting element and rotation unit
Part.
3. as claimed in claim 2 a kind of automatic grasping system it is characterised in that smart determining member upper end and rotate element defeated
Shaft is connected.
4. a kind of automatic grasping system is arranged on crawl master it is characterised in that being accurately positioned part upper end as claimed in claim 2
In the chute of arm, direct acting element manipulation end is connected with being accurately positioned part, and direct acting element drives and is accurately positioned part along chute movement.
5. a kind of automatic grasping system as described in claim 3 or 4 is it is characterised in that being accurately positioned part is inverted Y type or T
Type, lower end is connected with soft readjustment part two ends respectively, constitutes a lock tube.
6. as claimed in claim 5 a kind of automatic grasping system it is characterised in that soft readjustment part be steel wire rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620954080.9U CN205928707U (en) | 2016-08-29 | 2016-08-29 | Automatic grasping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620954080.9U CN205928707U (en) | 2016-08-29 | 2016-08-29 | Automatic grasping system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205928707U true CN205928707U (en) | 2017-02-08 |
Family
ID=57953696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620954080.9U Expired - Fee Related CN205928707U (en) | 2016-08-29 | 2016-08-29 | Automatic grasping system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205928707U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078789A (en) * | 2016-08-29 | 2016-11-09 | 沈阳中之杰流体控制系统有限公司 | A kind of automatic grasping system |
-
2016
- 2016-08-29 CN CN201620954080.9U patent/CN205928707U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078789A (en) * | 2016-08-29 | 2016-11-09 | 沈阳中之杰流体控制系统有限公司 | A kind of automatic grasping system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: An automatic grabbing system Effective date of registration: 20230116 Granted publication date: 20170208 Pledgee: China Construction Bank Corporation Shenyang Zhongshan Sub-branch Pledgor: SHENYANG HERO FLUID CONTROL SYSTEM CO.,LTD. Registration number: Y2023210000008 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170208 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |